Patents Assigned to MacDonald, Dettwiler & Associates Inc.
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Publication number: 20130153710Abstract: Herein is disclosed a tool, system and method for refueling on-orbit spacecraft. The tool and system are configured to allow for resupply of spacecraft configured to be propelled by either a bipropellant (oxidizer and fuel) or a monopropellant (typically hydrazine). The refueling tool is particularly suited for resupply of satellites not originally prepared for refueling but the system may also be used for satellites specifically designed for refueling.Type: ApplicationFiled: December 5, 2012Publication date: June 20, 2013Applicant: MACDONALD DETTWILER & ASSOCIATES INC.Inventor: MACDONALD DETTWILER & ASSOCIATES INC.
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Patent number: 8448904Abstract: A tool mounted on a servicer satellite for fuelling an unprepared or partially prepared client satellite. The tool includes a robotic arm mounted on the servicer satellite and a valve tool configured to be releasibly gripped by the robotic arm. The valve tool includes a housing with a support frame and a wrench mechanism mounted on the support frame. The wrench mechanism is configured for removing and replacing the first access valve cap on the first fill-drain valve and coupling a first propellant fill line to the first propellant tank optionally removing and replacing the second access valve cap on the second fill-drain valve on the second propellant tank and coupling a second propellant fill line to the second propellant tank, and actuating the valve actuation nut on the first fill-drain valve, and optionally actuating the valve actuation nut on the second fill-drain valve.Type: GrantFiled: May 14, 2012Date of Patent: May 28, 2013Assignee: MacDonald Dettwiler & Associates Inc.Inventors: Lawrence Gryniewski, Derry Crymble
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Patent number: 8444631Abstract: The present invention provides a surgical manipulator including a manipulator arm, an end-effector held by the robotic arm, surgical tools held by the end-effector and manipulator joints, particularly right-angle drive devices for transmitting rotational motion in one axis to a perpendicular axis.Type: GrantFiled: December 22, 2008Date of Patent: May 21, 2013Assignee: MacDonald Dettwiler & Associates IncInventors: Benny Hon Bun Yeung, Dennis Gregoris, Bronislaw Bednarz, Michael A. Gray
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Publication number: 20130119204Abstract: Herein is disclosed a propellant transfer system and method for refueling on-orbit spacecraft. The system and method are configured to allow for resupply of spacecraft configured to be fueled by either a bipropellant (oxidizer and fuel) or a monopropellant (typically hydrazine). The system and method are particularly suited for resupply of satellites not originally prepared for refueling as well but the system may also be used for as satellites specifically designed for refueling.Type: ApplicationFiled: November 15, 2012Publication date: May 16, 2013Applicant: MACDONALD DETTWILER & ASSOCIATES INC.Inventor: MACDONALD DETTWILER & ASSOCIATES INC.
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Publication number: 20130103193Abstract: Herein is disclosed a multifunctional tool with replaceable tool tips. The disclosed multifunctional tool may be used as an end-effector on a robotic arm in space. Each tool tip, when in the tool holder, is driven by a common motor. The same motor can also be used to control the orientation of the tool tip about an axis. The tool tips are replaceable in the tool holder by simple and robust means, resulting in a lighter and cheaper multifunctional tool. The tool tips can be variously adapted to perform a variety of functions, including cutting, grasping, drilling, driving, etc. Since the tool may be driven by only one actuator, and the single actuator may be used to drive both the tool and rotation of the tool, mass can be saved. Use of such a multifunctional tool also reduces overall system power requirements, and system complexity.Type: ApplicationFiled: October 15, 2012Publication date: April 25, 2013Applicant: MACDONALD DETTWILER & ASSOCIATES INC.Inventor: MACDONALD DETTWILER & ASSOCIATES INC.
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Publication number: 20120325972Abstract: A tool mounted on a servicer satellite for fuelling an unprepared or partially prepared client satellite. The tool includes a robotic arm mounted on the servicer satellite and a valve tool configured to be releasibly gripped by the robotic arm. The valve tool includes a housing with a support frame and a wrench mechanism mounted on the support frame. The wrench mechanism is configured for removing and replacing the first access valve cap on the first fill-drain valve and coupling a first propellant fill line to the first propellant tank optionally removing and replacing the second access valve cap on the second fill-drain valve on the second propellant tank and coupling a second propellant fill line to the second propellant tank, and actuating the valve actuation nut on the first fill-drain valve, and optionally actuating the valve actuation nut on the second fill-drain valve.Type: ApplicationFiled: May 14, 2012Publication date: December 27, 2012Applicant: MACDONALD DETTWILER & ASSOCIATES INC.Inventors: Lawrence GRYNIEWSKI, Derry CRYMBLE
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Patent number: 8260483Abstract: The present invention provides a guidance, navigation, and control method and system for an underground mining vehicle that allow said vehicle to be taught a route by a human operator and then have it automatically drive the route with no human intervention. The method works in three steps: teaching, route profiling, and playback. In the teaching step the vehicle is manually driven by a operator along a route which can consist of an arbitrary sequence of maneuvers including tramming forwards, switching directions, tramming backwards, turning, or pausing movement. During this phase raw data from vehicle-mounted sensors including odometric sensors and rangefinders are logged to a file throughout teaching for later processing. During the (offline) route profiling step, the raw data in the log file are processed into a route profile, and a profile of desired speed as a function of distance along the path.Type: GrantFiled: August 12, 2011Date of Patent: September 4, 2012Assignee: MacDonald, Dettwiler & Associates IncInventors: Timothy D. Barfoot, Joshua A. Marshall, Raja Mukherji, Robert Ward
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Patent number: 8196870Abstract: A tool for fuelling an unprepared or partially prepared client satellite required for accessing, opening and closing a fuel fill valve on the satellite being serviced, storage and retrieval stations on a tool caddy on which the tools and various fuel fill valve caps are stored. The tool includes interchangeable socket modules, a support frame, a socket module holder mechanism, a socket drive mechanism, a clamping mechanism to secure the tool to a reaction area on the fuel fill valve and oxidizer fill valve, and a valve actuation mechanism. The interchangeable socket modules include a first module for removing and replacing the access valve cap, a second module for coupling the fuel fill line to the fuel tank, a third module for engaging the access valve cap on the oxidizer fill valve, and a fourth module for coupling the oxidizer fill line to the oxidizer tank.Type: GrantFiled: December 12, 2011Date of Patent: June 12, 2012Assignee: MacDonald Dettwiler & Associates Inc.Inventors: Lawrence Gryniewski, Derry Crymble
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Patent number: 8181911Abstract: The present invention provides a method, system and apparatus for robotic refueling of satellites. The system may include a dedicated refueling satellite launched directly from either earth, or alternatively it could be launched from another larger mother spacecraft or space station in which the refueling satellite is ferried into space in the case of the larger space craft or it may be stored on the space station until needed from which it can be launched. The system includes a robotic arm, suitable tools which can be affixed to the end effector of the robotic arm required for accessing, opening and closing the fuel fill valve on the satellite being serviced, storage and retrieval stations on a tool caddy on which the tools and various fuel fill valve caps are stored. The system is under teleoperation by a remotely located operator, for example located on earth, in the mother station or in the space station.Type: GrantFiled: August 2, 2011Date of Patent: May 22, 2012Assignee: MacDonald Dettwiler & Associates Inc.Inventors: Lawrence Gryniewski, Derry Crymble, John Cameron Ower
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Publication number: 20120120072Abstract: The present invention provides a system (method and apparatus) for creating photorealistic 3D models of environments and/or objects from a plurality of stereo images obtained from a mobile stereo camera and optional monocular cameras. The cameras may be handheld, mounted on a mobile platform, manipulator or a positioning device. The system automatically detects and tracks features in image sequences and self-references the stereo camera in 6 degrees of freedom by matching the features to a database to track the camera motion, while building the database simultaneously. A motion estimate may be also provided from external sensors and fused with the motion computed from the images. Individual stereo pairs are processed to compute dense 3D data representing the scene and are transformed, using the estimated camera motion, into a common reference and fused together. The resulting 3D data is represented as point clouds, surfaces, or volumes.Type: ApplicationFiled: August 15, 2011Publication date: May 17, 2012Applicant: MACDONALD DETTWILER AND ASSOCIATES INC.Inventors: Shuen Yan Stephen SE, Piotr JASIOBEDZKI
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Publication number: 20120112009Abstract: The present invention provides a method, system and apparatus for robotic refuelling of satellites. The system may include a dedicated refuelling satellite launched directly from either earth, or alternatively it could be launched from another larger mother spacecraft or space station in which the refuelling satellite is ferried into space in the case of the larger space craft or it may be stored on the space station until needed from which it can be launched. The system includes a robotic arm, suitable tools which can be affixed to the end effector of the robotic arm required for accessing, opening and closing the fuel fill valve on the satellite being serviced, storage and retrieval stations on a tool caddy on which the tools and various fuel fill valve caps are stored. The system is under teleoperation by a remotely located operator, for example located on earth, in the mother station or in the space station.Type: ApplicationFiled: August 2, 2011Publication date: May 10, 2012Applicant: MACDONALD DETTWILER & ASSOCIATES INC.Inventors: Lawrence GRYNIEWSKI, Derry CRYMBLE, John Cameron OWER
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Publication number: 20120080563Abstract: A tool for fuelling an unprepared or partially prepared client satellite required for accessing, opening and closing a fuel fill valve on the satellite being serviced, storage and retrieval stations on a tool caddy on which the tools and various fuel fill valve caps are stored. The tool includes interchangeable socket modules, a support frame, a socket module holder mechanism, a socket drive mechanism, a clamping mechanism to secure the tool to a reaction area on the fuel fill valve and oxidizer fill valve, and a valve actuation mechanism. The interchangeable socket modules include a first module for removing and replacing the access valve cap, a second module for coupling the fuel fill line to the fuel tank, a third module for engaging the access valve cap on the oxidizer fill valve, and a fourth module for coupling the oxidizer fill line to the oxidizer tank.Type: ApplicationFiled: December 12, 2011Publication date: April 5, 2012Applicant: MACDONALD DETTWILER & ASSOCIATES INC.Inventors: Lawrence GRYNIEWSKI, Derry CRYMBLE
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Publication number: 20120035798Abstract: The present invention provides a guidance, navigation, and control method and system for an underground mining vehicle that allow said vehicle to be taught a route by a human operator and then have it automatically drive the route with no human intervention. The method works in three steps: teaching, route profiling, and playback. In the teaching step the vehicle is manually driven by a operator (or using tele-operation whereby the operator views a screen displaying live views from vehicle-mounted cameras and using remote controls) along a route which can consist of an arbitrary sequence of maneuvers including tramming forwards, switching directions, tramming backwards, turning, or pausing movement. During this phase raw data from vehicle-mounted sensors including odometric sensors and rangefinders are logged to a file throughout teaching for later processing.Type: ApplicationFiled: August 12, 2011Publication date: February 9, 2012Applicant: MACDONALD, DETTWILER & ASSOCIATES INC.Inventors: Timothy D. Barfoot, Joshua A. Marshall, Raja Mukherji, Robert Ward
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Publication number: 20120000050Abstract: The present invention provides a low profile, compact, scalable concept end-effector for use in robotic handling applications. The end-effector acts as the interface between multi-degree-of-freedom (DOF) manipulator and its base (if applicable), as well as the tools it handles and is compatible with both large manipulator systems such as the Shuttle Remote Manipulator System (SRMS) and Space Station Remote Manipulator System (SSRMS) and smaller dexterous manipulators such as the Orbital Express Dexterous Manipulator System. An active/controlled component is attached to the roll joint(s) at one or both end(s) of the manipulator, with an entirely passive component attached to the structure/tools that the manipulator interfaces with. Interface engagement and mate operations are performed by way of the manipulator roll joint. Once mated, shear pins are extended to lock the mated assembly in place and achieve a high stiffness, zero free play mated interface.Type: ApplicationFiled: February 15, 2011Publication date: January 5, 2012Applicant: MACDONALD DETTWILER AND ASSOCIATES INC.Inventors: Rangaswamy RAVINDRAN, Sean Andrew DOWLING, Ming Kit CHAN
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Patent number: 8090491Abstract: A guidance, navigation, and control method and system for an underground mining vehicle wherein an operator directly or indirectly guides the vehicle along a route as vehicle-mounted sensors including odometric sensors and rangefinders log motion data to a file which data is processed into a route profile including a vehicle path, a sequence of submaps along the path, and a profile of desired speed as a function of distance along the path. Thereafter the vehicle automatically repeats the route as represented by the route profile without an operator using the sensors and the maps to determine vehicle location.Type: GrantFiled: July 26, 2006Date of Patent: January 3, 2012Assignee: MacDonald Dettwiler & Associates Inc.Inventors: Timothy D. Barfoot, Joshua A. Marshall, Raja Mukherji, Robert Ward
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Patent number: 8074935Abstract: The present invention provides a method, system and apparatus for robotic refueling of satellites. The system may include a dedicated refueling satellite launched directly from either earth, or alternatively it could be launched from another larger mother spacecraft or space station in which the refueling satellite is ferried into space in the case of the larger space craft or it may be stored on the space station until needed from which it can be launched. The system includes a robotic arm, suitable tools which can be affixed to the end effector of the robotic arm required for accessing, opening and closing the fuel fill valve on the satellite being serviced, storage and retrieval stations on a tool caddy on which the tools and various fuel fill valve caps are stored. The system is under teleoperation by a remotely located operator, for example located on earth, in the mother station or in the space station.Type: GrantFiled: March 10, 2008Date of Patent: December 13, 2011Assignee: MacDonald Dettwiler & Associates Inc.Inventors: Lawrence Gryniewski, Derry Crymble, John Cameron Ower
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Patent number: 8031933Abstract: The present invention provides a system (method and apparatus) for creating photorealistic 3D models of environments and/or objects from a plurality of stereo images obtained from a mobile stereo camera and optional monocular cameras. The cameras may be handheld, mounted on a mobile platform, manipulator or a positioning device. The system automatically detects and tracks features in image sequences and self-references the stereo camera in 6 degrees of freedom by matching the features to a database to track the camera motion, while building the database simultaneously. A motion estimate may be also provided from external sensors and fused with the motion computed from the images. Individual stereo pairs are processed to compute dense 3D data representing the scene and are transformed, using the estimated camera motion, into a common reference and fused together. The resulting 3D data is represented as point clouds, surfaces, or volumes.Type: GrantFiled: December 18, 2009Date of Patent: October 4, 2011Assignee: MacDonald Dettwiler & Associates Inc.Inventors: Shuen Yan Stephen Se, Piotr Jasiobedzki, David Owen Parry, Roy Henry Jakola
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Patent number: 8031909Abstract: The present invention provides a system (method and apparatus) for creating photorealistic 3D models of environments and/or objects from a plurality of stereo images obtained from a mobile stereo camera and optional monocular cameras. The cameras may be handheld, mounted on a mobile platform, manipulator or a positioning device. The system automatically detects and tracks features in image sequences and self-references the stereo camera in 6 degrees of freedom by matching the features to a database to track the camera motion, while building the database simultaneously. A motion estimate may be also provided from external sensors and fused with the motion computed from the images. Individual stereo pairs are processed to compute dense 3D data representing the scene and are transformed, using the estimated camera motion, into a common reference and fused together. The resulting 3D data is represented as point clouds, surfaces, or volumes.Type: GrantFiled: December 18, 2009Date of Patent: October 4, 2011Assignee: MacDonald Dettwiler and Associates Inc.Inventors: Shuen Yan Stephen Se, Piotr Jasiobedzki, David Owen Parry, Roy Henry Jakola
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Patent number: 7860301Abstract: A system for creating photorealistic 3D models of environments and/or objects from a plurality of stereo images obtained from a mobile stereo camera and optional monocular cameras, for enhancing 3D models of environments or objects by registering information from additional sensors to improve model fidelity or to augment it with supplementary information using a light pattern projector, and for generating photo-realistic 3D models of underground environments such as tunnels, mines, voids and caves, including automatic registration of the 3D models with pre-existing underground maps. The cameras may be handheld, mounted on a mobile platform, manipulator or a positioning device. The system automatically detects and tracks features in image sequences and self-references the stereo camera in 6 degrees of freedom by matching the features to a database to track the camera motion, while building the database simultaneously.Type: GrantFiled: February 13, 2006Date of Patent: December 28, 2010Assignee: MacDonald Dettwiler and Associates Inc.Inventors: Shuen Yan Stephen Se, Piotr Jasiobedzki, David Owen Parry, Roy Henry Jakola
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Patent number: 7756615Abstract: The present invention provides a system for coordinating multiple vehicles in a passageway environment (e.g., in underground mines). The system includes methods and apparatus for determining the global position and orientation of a vehicle in said passageway environment, and methods for planning routes and monitoring the travels of multiple vehicles in said passageway environment. A global position and orientation estimation system employs one or more odometric sensors and one or more range sensing devices. It works in three basic steps. In the first step, it records and processes sensor data that is descriptive of the passageway environment by moving the system through said passageway environment. In the second step, it generates a globally consistent map of said passageway environment.Type: GrantFiled: July 26, 2006Date of Patent: July 13, 2010Assignee: MacDonald, Dettwiler & Associates Inc.Inventors: Timothy D. Barfoot, Joshua A. Marshall